Does the attached latency plot look even half way normal for a rpi4 ? I get jitter result of around 75000 after a 10 seconds or so. Pinging 10.10.10.10 gives reasonable consistent times of 0.105, but every now and again it spikes up to 0.150 or 0.190. This plot is from a second
pi booting from an SSD (to allow me to test in the house where i have more space), but the actual pi in the workshop is running from an SD card.
I'm running and rpi4 with mesa 7i96, 7i85 and 7i73 and steppers. I've got a config that works to a point, but i keep getting following errors. I can mill manually commanding the axis for a couple of inches and it then throws a following error. It will also throw a following error whilst homing sometimes. Is latency on the servo thread (1,000,000) going to be the issue, or is it as likely to be settings in my hal/ini (which are both still work in progress)?
Here's the main settings for X and Y. Gearing on Z means that axis is set slightly differently. Stepper drivers are generic leadshine (i think, from stepperonline). whilst there are some entries in here from linear encoders they aren't currently being used for feedback.
Code:
[JOINT_0]
AXIS = X
MAX_VELOCITY = 20
MAX_ACCELERATION = 100
TYPE = LINEAR
SCALE = 400
ENC_SCALE = 0.005
ENC_OFFSET = 0
STEPGEN_MAX_VEL = 50
STEPGEN_MAX_ACC = 250
FERROR = 10.000
MIN_FERROR = 0.0025
DIRSETUP = 20000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
DEADBAND = 0.05
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
MIN_LIMIT = 0
MAX_LIMIT = 380
HOME = 100.000
HOME_OFFSET = -5.000
HOME_SEARCH_VEL = -5.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
Any help in identifying my issue(s) will be greatly appreciated.
